TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN
Online ISSN : 1884-0485
ISSN-L : 1884-0485
d) Astrodynamics, Navigation Guidance and Control
Decentralized Robust Optimal Control of Large Flexible Space Structures by Fourth Order Local Proper Controllers Using Displacement Output
Kengo IGAWAYohji KOBAYASHI
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2016 Volume 14 Issue ists30 Pages Pd_95-Pd_103

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Abstract

This paper considers position and attitude control of large flexible space structures composed of a number of subsystems(substructures) under the assumption of sensors and actuators collocation. The purpose of this paper is to propose a decentralized control scheme with fourth order local proper controllers using displacement/angle output, which makes both each closed-loop subsystem and an overall closed-loop system not only robustly stable but also optimal for quadratic cost functions. We first introduce a fourth order local proper controller for stabilizing each subsystem using only displacement/angle output. Then, we show each closed-loop subsystem becomes not only robustly stable against uncertain characteristic parameters such as mass, damping, and stiffness, but also optimal for a quadratic cost function by choosing parameters of each local proper controller appropriately. After stabilizing and optimizing each subsystem, we interconnect the closed-loop subsystems by flexible links to obtain an overall closed-loop system, and we show the overall closed-loop system also becomes robustly stable and optimal for a quadratic cost function. Finally, numerical examples are presented to show effectiveness of the proposed method.

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© 2016 The Japan Society for Aeronautical and Space Sciences
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